#

zjj

2025-01-08 a93374428a3944788ae547f75504fdf0aa33571c

 src/main/java/com/zy/core/thread/ZyRgvThread.java

@@ -7,10 +7,10 @@
import com.alibaba.fastjson.JSON;
import com.core.common.DateUtils;
import com.core.common.SpringUtils;
import com.zy.asrs.entity.BasRgv;
import com.zy.asrs.entity.BasRgvOpt;
import com.zy.asrs.service.BasRgvOptService;
import com.zy.asrs.service.BasRgvService;
//import com.zy.asrs.entity.BasRgv;
//import com.zy.asrs.entity.BasRgvOpt;
//import com.zy.asrs.service.BasRgvOptService;
//import com.zy.asrs.service.BasRgvService;
import com.zy.core.RgvThread;
import com.zy.core.cache.MessageQueue;
import com.zy.core.cache.OutputQueue;
@@ -64,34 +64,21 @@
                    case 2:
                        write((RgvCommand) task.getData());
                        break;
                    // 复位
                    // 工位1复位
                    case 3:
                        RgvCommand command = (RgvCommand) task.getData();
                        if (null == command) {
                            command = new RgvCommand();
                        }
                        command.setRgvNo(slave.getId()); // 堆垛机编号
                        command.setTaskNo1((short) 0); // 工作号
                        command.setTaskMode1(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo1((short) 0);//源站
                        command.setDestinationStaNo1((short) 0);//目标站
                        command.setTaskNo2((short) 0); // 工作号
                        command.setTaskMode2(RgvTaskModeType.NONE); // 任务模式
                        command.setSourceStaNo2((short) 0);//源站
                        command.setDestinationStaNo2((short) 0);//目标站
                        command.setAckFinish((short) 1);  // 任务完成确认位
                        write(command);
                        writeAckFinish1((RgvCommand) task.getData());
                        break;
                    //写入数据确认命令
                        //工位2复位
                    case 4:
                        writeCommand((RgvCommand) task.getData());
                        writeAckFinish2((RgvCommand) task.getData());
                        break;

                    default:
                        break;
                }
                Thread.sleep(500);
            } catch (Exception e) {
//                e.printStackTrace();
                e.printStackTrace();
            }

        }
@@ -106,10 +93,10 @@
        OperateResult connect = siemensNet.ConnectServer();
        if(connect.IsSuccess){
            result = true;
            OutputQueue.CRN.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.RGV.offer(MessageFormat.format( "【{0}】RGV plc连接成功 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.info("RGV plc连接成功 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】RGV plc连接失败！！！ ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
            log.error("RGV plc连接失败！！！ ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            initRgv();
        }
@@ -121,100 +108,90 @@
     */
    private void readStatus(){
        try {
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 34);
            OperateResultExOne<byte[]> result = siemensNet.Read("DB101.0", (short) 38);
            if (result.IsSuccess) {
                if (null == rgvProtocol) {
                    rgvProtocol = new RgvProtocol();
                    rgvProtocol.setRgvNo(slave.getId());
                }
                rgvProtocol.setRgvNo(slave.getId());
                rgvProtocol.setMode(siemensNet.getByteTransform().TransInt16(result.Content, 0));//模式
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 2));//RGV状态
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1工作号
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1有物
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt16(result.Content, 8));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 10));//走行在定位
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt16(result.Content, 12));//工位2工作号
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2有物
                rgvProtocol.setTaskFinish1(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位1任务完成
                rgvProtocol.setTaskFinish2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2任务完成
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 20));//异常码
                rgvProtocol.setHeart(siemensNet.getByteTransform().TransInt16(result.Content, 22));//RGV心跳信号
                rgvProtocol.setTemp1(siemensNet.getByteTransform().TransInt16(result.Content, 24));//备用1
                rgvProtocol.setTemp2(siemensNet.getByteTransform().TransInt16(result.Content, 26));//备用2
                rgvProtocol.setTemp3(siemensNet.getByteTransform().TransInt16(result.Content, 28));//备用3
                rgvProtocol.setTemp4(siemensNet.getByteTransform().TransInt16(result.Content, 30));//备用4
                rgvProtocol.setTemp5(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用5
                rgvProtocol.setTaskNo1(siemensNet.getByteTransform().TransInt32(result.Content, 2));//工位1工作号
                rgvProtocol.setTaskNo2(siemensNet.getByteTransform().TransInt32(result.Content, 6));//工位1工作号
                rgvProtocol.setStatus(siemensNet.getByteTransform().TransInt16(result.Content, 10));//RGV状态
                rgvProtocol.setColumnNumber(siemensNet.getByteTransform().TransInt16(result.Content, 12));//RGV当前位置
                rgvProtocol.setWalkPos(siemensNet.getByteTransform().TransInt16(result.Content, 14));//走行在定位
                rgvProtocol.setRgvPos(siemensNet.getByteTransform().TransInt32(result.Content, 16));//RGV当前位置
                rgvProtocol.setLoaded1(siemensNet.getByteTransform().TransInt16(result.Content, 20));//工位1有物
                rgvProtocol.setAlarm(siemensNet.getByteTransform().TransInt16(result.Content, 22));//异常码
                rgvProtocol.setxSpeed(siemensNet.getByteTransform().TransSingle(result.Content, 24));//备用2
                rgvProtocol.setxDistance(siemensNet.getByteTransform().TransSingle(result.Content, 28));//备用3
                rgvProtocol.setxDuration(siemensNet.getByteTransform().TransInt16(result.Content, 32));//备用4
                rgvProtocol.setLoaded2(siemensNet.getByteTransform().TransInt16(result.Content, 36));//工位1有物

                OperateResultExOne<byte[]> result2 = siemensNet.Read("DB100.0", (short) 22);
                if (result2.IsSuccess) {
                    rgvProtocol.setTaskMode1(siemensNet.getByteTransform().TransInt16(result.Content, 4));//工位1任务模式
                    rgvProtocol.setSourceStn1(siemensNet.getByteTransform().TransInt16(result.Content, 6));//工位1源站
                    rgvProtocol.setDestinationPos1(siemensNet.getByteTransform().TransInt16(result.Content, 8));//工位1目标站
                    rgvProtocol.setTaskMode2(siemensNet.getByteTransform().TransInt16(result.Content, 14));//工位2任务模式
                    rgvProtocol.setSourceStn2(siemensNet.getByteTransform().TransInt16(result.Content, 16));//工位2源站
                    rgvProtocol.setDestinationPos2(siemensNet.getByteTransform().TransInt16(result.Content, 18));//工位2目标站
                }

                OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] <<<<< 实时数据更新成功",DateUtils.convert(new Date()), slave.getId()));

                // 复位信号
                if (rgvProtocol.getStatusType().equals(RgvStatusType.WAITING)) {
                    if (resetFlag1) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish((short) 2);//工位1任务结束已接收
                        if (write(rgvCommand)) {
                            resetFlag1 = false;
                        }
                    }

                    if (resetFlag2) {
                        RgvCommand rgvCommand = new RgvCommand();
                        rgvCommand.setAckFinish((short) 3);//工位2任务结束已接收
                        if (write(rgvCommand)) {
                            resetFlag2 = false;
                        }
                    }
                }

                try {
                    // 根据实时信息更新数据库
                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
                    BasRgv basRgv = new BasRgv();
                    basRgv.setRgvNo(slave.getId());
                    basRgv.setMode(rgvProtocol.getMode().intValue());
                    basRgv.setStatus(rgvProtocol.getStatus().intValue());
                    basRgv.setTaskNo1(rgvProtocol.getTaskNo1().intValue());
                    basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
                    basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
                    basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
                    basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
                    basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
                    basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
                    basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
                    basRgv.setHeart(rgvProtocol.getHeart().intValue());
                    basRgv.setTemp1(rgvProtocol.getTemp1().intValue());
                    basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
                    basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
                    basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
                    basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
                    if (!basRgvService.updateById(basRgv)){
                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
                    }
//                    BasRgvService basRgvService = SpringUtils.getBean(BasRgvService.class);
//                    BasRgv basRgv = new BasRgv();
//                    basRgv.setRgvNo(slave.getId());
//                    basRgv.setMode(rgvProtocol.getMode().intValue());
//                    basRgv.setStatus(rgvProtocol.getStatus().intValue());
//                    basRgv.setTaskNo1(rgvProtocol.getTaskNo1());
//                    basRgv.setLoaded1(rgvProtocol.getLoaded1().intValue());
//                    basRgv.setRgvPos(rgvProtocol.getRgvPos().intValue());
//                    basRgv.setWalkPos(rgvProtocol.getWalkPos().intValue());
////                    basRgv.setTaskNo2(rgvProtocol.getTaskNo2().intValue());
////                    basRgv.setLoaded2(rgvProtocol.getLoaded2().intValue());
////                    basRgv.setTaskFinish1(rgvProtocol.getTaskFinish1().intValue());
////                    basRgv.setTaskFinish2(rgvProtocol.getTaskFinish2().intValue());
//                    basRgv.setAlarm(rgvProtocol.getAlarm().intValue());
////                    basRgv.setHeart(rgvProtocol.getHeart().intValue());
//                    basRgv.setTemp1(rgvProtocol.getTemp1());
//                    basRgv.setTemp2(rgvProtocol.getTemp2().intValue());
//                    basRgv.setTemp3(rgvProtocol.getTemp3().intValue());
////                    basRgv.setTemp4(rgvProtocol.getTemp4().intValue());
////                    basRgv.setTemp5(rgvProtocol.getTemp5().intValue());
//                    if (!basRgvService.updateById(basRgv)){
//                        log.error("RGV plc数据库更新失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
//                    }
                } catch (Exception ignore){}

            } else {
                initRgv();
                OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}] [rack:{4}] [slot:{5}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot()));
                log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}] [rack:{}] [slot:{}]", slave.getId(), slave.getIp(), slave.getPort(), slave.getRack(), slave.getSlot());
            }
        } catch (Exception e) {
            e.printStackTrace();
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】读取RGV plc状态信息失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("读取RGV plc状态信息失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            initRgv();
        }
    }
    private boolean writeAckFinish1(RgvCommand command) throws InterruptedException {
        OperateResult write = siemensNet.Write("DB100.22.1", true);
        if (!write.IsSuccess){
            log.error("任务1确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(3, command));
        }
        return write.IsSuccess;
    }
    private boolean writeAckFinish2(RgvCommand command) throws InterruptedException {
        OperateResult write = siemensNet.Write("DB100.22.2", true);
        if (!write.IsSuccess){
            log.error("任务2确认完成写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}]",slave.getId());
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(4, command));
        }
        return write.IsSuccess;
    }


    /**
     * 写入数据
@@ -224,164 +201,139 @@
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        OperateResult result = null;
        if (command.getTaskNo1() > 0 && command.getTaskNo2() == 0) {
            //只有工位1存在任务且任务没有被确认，工位1开始计时
            if (command.getCommand() == 0) {
                rgvProtocol.setTask1SendTime(System.currentTimeMillis());
        short[] array = new short[5];
        array[0] = command.getSourceStaNo1();
        array[1] = command.getSourceStaNo2();
        array[2] = command.getDestinationStaNo1();
        array[3] = command.getDestinationStaNo2();
        array[4] = command.getTaskMode();

        int[] array2 = new int[3];
        array2[0] = command.getTaskNo1();
        array2[1] = command.getTaskNo2();
        array2[2] = 0;

        boolean[] array3 = new boolean[3];
        array3[0] = command.isCommand();
        array3[1] = command.isAckFinish1();
        array3[2] = command.isAckFinish2();

        OperateResult result1 = siemensNet.Write("DB100.0",array);
        OperateResult result2 = siemensNet.Write("DB100.10",array2);
        OperateResult result3 = siemensNet.Write("DB100.22",array3);

        if (!result1.IsSuccess && !result2.IsSuccess && !result3.IsSuccess){
            log.error("写入RGVplc数据失败，重新添加任务到队列 ===> [id:{}],{}",slave.getId(),JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv,slave.getId(),new Task(2,command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        //RGV任务写入后，回读一次，看是否成功
        Thread.sleep(400);
        try {
            OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.0", (short) 24);
            OperateResultExOne<byte[]> readAck1 = siemensNet.Read("DB100.0", (short) 22.1);
            OperateResultExOne<byte[]> readAck2 = siemensNet.Read("DB100.0", (short) 22.2);
            if (resultRead.IsSuccess && readAck1.IsSuccess && readAck2.IsSuccess){
                RgvCommand one = new RgvCommand();
                one.setSourceStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 0));
                one.setSourceStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 2));
                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 4));
                one.setDestinationStaNo2(siemensNet.getByteTransform().TransInt16(resultRead.Content, 6));
                one.setTaskMode(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                one.setTaskNo1(siemensNet.getByteTransform().TransInt32(resultRead.Content, 10));
                one.setTaskNo2(siemensNet.getByteTransform().TransInt32(resultRead.Content, 14));
                one.setCommand(siemensNet.getByteTransform().TransBool(resultRead.Content, 22));
                one.setAckFinish1(siemensNet.getByteTransform().TransBool(readAck1.Content, 0));
                one.setAckFinish2(siemensNet.getByteTransform().TransBool(readAck2.Content, 0));
//                one.setDestinationStaNo1(siemensNet.getByteTransform().TransInt16(resultRead.Content, 8));
                if (    !command.isAckFinish1() == one.isAckFinish1() ||
                        !command.isAckFinish2() == one.isAckFinish2() ||
                        !command.isCommand() == one.isCommand() ||

                        !command.getTaskNo1().equals(one.getTaskNo1()) ||
                        !command.getTaskNo2().equals(one.getTaskNo2()) ||
                        !command.getTaskMode().equals(one.getTaskMode()) ||
                        !command.getSourceStaNo1().equals(one.getSourceStaNo1()) ||
                        !command.getDestinationStaNo1().equals(one.getDestinationStaNo1()) ||
                        !command.getSourceStaNo2().equals(one.getSourceStaNo2()) ||
                        !command.getDestinationStaNo2().equals(one.getDestinationStaNo2())
                ){
                    try{
                        log.error("RGV命令地址写入后回读失败[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                    }catch (Exception e){
                        try{
                            log.error("日志打印失败：===>>参数one报错 [id:{}],{}", slave.getId(), JSON.toJSON(command),JSON.toJSON(resultRead));
                        }catch (Exception e1){
                            log.error("日志打印失败：===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                        }
                    }
                    log.error("Rgv命令回读失败后，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
                    MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
                    Thread.sleep(100);
                    readStatus();
                    return false;
                }else {
                    log.info("RGV命令地址写入后回读成功[id:{}] >>>>> 写入[{}],===>>回读[{}]", slave.getId(), JSON.toJSON(command),JSON.toJSON(one));
                }
            }else {
                log.error("RGV命令地址写入后回读出错,重新加入队列");
                MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            }
            short[] array = new short[10];
            array[0] = command.getAckFinish(); // 任务完成确认位
            array[1] = command.getTaskNo1();  // 工位1任务号
            array[2] = command.getTaskMode1();  // 工位1模式
            array[3] = command.getSourceStaNo1(); // 工位1源站
            array[4] = command.getDestinationStaNo1(); // 工位1目标站
            array[5] = 0; // 工位2任务号
            array[6] = 0;  // 工位2模式
            array[7] = 0; // 工位2源站
            array[8] = 0; // 工位2目标站
            array[9] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.0", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        } else if (command.getTaskNo2() > 0 && command.getTaskNo1() == 0) {
            //只有工位2存在任务
            short[] array = new short[5];
            array[0] = command.getTaskNo2(); // 工位2任务号
            array[1] = command.getTaskMode2();  // 工位2模式
            array[2] = command.getSourceStaNo2(); // 工位2源站
            array[3] = command.getDestinationStaNo2(); // 工位2目标站
            array[4] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.12", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        }else {
            //工位1和工位2任务
            short[] array = new short[10];
            array[0] = command.getAckFinish(); // 任务完成确认位
            array[1] = command.getTaskNo1();  // 工位1任务号
            array[2] = command.getTaskMode1();  // 工位1模式
            array[3] = command.getSourceStaNo1(); // 工位1源站
            array[4] = command.getDestinationStaNo1(); // 工位1目标站
            array[5] = command.getTaskNo2(); // 工位2任务号
            array[6] = command.getTaskMode2();  // 工位2模式
            array[7] = command.getSourceStaNo2(); // 工位2源站
            array[8] = command.getDestinationStaNo2(); // 工位2目标站
            array[9] = command.getCommand();// 任务确认位
            result = siemensNet.Write("DB100.0", array);
            log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);
        }catch (Exception e){
            log.error("RGV命令地址写入后回读出错");
        }

        if (command.getCommand() == 1) {
            //任务被确认
            rgvProtocol.setTask1SendTime(0L);//重置工位1下发时间
        if (!command.isAckFinish1() && !command.isAckFinish2()) {
            if (result1.IsSuccess) {
                Thread.sleep(300);
                //任务下发次数
                int writeCount2 = 0;

                do {
                    writeCount2++;
                    result1 = siemensNet.Write("DB100.22", true);
                    if(result1.IsSuccess){
                        //RGV任务写入后，回读一次，看是否成功
                        Thread.sleep(200);
                        OperateResultExOne<byte[]> resultRead = siemensNet.Read("DB100.22", (short) 2);
                        if (resultRead.IsSuccess) {
                            boolean commandFinish=siemensNet.getByteTransform().TransBool(resultRead.Content, 0);
                            if (!commandFinish){
                                log.error("RGV任务确认位"+commandFinish+"写入数据与回读数据不一致！"+"循环执行次数:"+writeCount2+"次");
                            }else{
                                //任务命令写入成功
                                log.info("RGV任务确认位"+commandFinish+"回读成功！"+"循环执行次数:"+writeCount2+"次");
                                break;
                            }
                        }else {
                            log.error("RGV任务确认位回读失败！"+"循环执行次数:"+writeCount2+"次");
                        }
                    } else {
                        log.error("RGV任务确认位写入失败！"+"循环执行次数:"+writeCount2+"次");
                    }
                }while (writeCount2<5);
            }
        }

        if(!result.IsSuccess){
            log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            Date now = new Date();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getRgvNo(),    // RGV[非空]
                    command.getAckFinish().intValue(),    // 任务完成确认位
                    command.getTaskNo1().intValue(),    // 任务号
                    command.getTaskMode1().intValue(),    // 模式
                    command.getSourceStaNo1().intValue(),    // 源站
                    command.getDestinationStaNo1().intValue(),    // 目标站
                    command.getTaskNo2().intValue(),    // 任务号
                    command.getTaskMode2().intValue(),    // 模式
                    command.getSourceStaNo2().intValue(),    // 源站
                    command.getDestinationStaNo2().intValue(),    // 目标站
                    command.getCommand().intValue(),
                    now,    // 下发时间
                    null, // 下发人员
                    now,    // 修改时间
                    null,    // 修改人员
                    null //响应
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
        if (result1 != null && result1.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            log.info("RGV 工位1命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 工位1命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            OutputQueue.RGV.offer(MessageFormat.format("【{0}】写入RGV plc工位1数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入RGV plc工位1数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }

    }

    /**
     * 写入数据确认命令
     */
    private boolean writeCommand(RgvCommand command) throws InterruptedException {
        if (null == command) {
            log.error("RGV写入命令为空");
            return false;
        }

        command.setRgvNo(slave.getId());
        short[] array = new short[1];
        array[0] = command.getCommand();// 任务确认位
        OperateResult result = siemensNet.Write("DB100.20", array);
        log.info("RGV命令下发[id:{}] >>>>> {}", slave.getId(), array);

        if(!result.IsSuccess){
            log.error("写入RGV plc数据失败，重新添加任务到队列 ===>> [id:{}],{}", slave.getId(), JSON.toJSON(command));
            MessageQueue.offer(SlaveType.Rgv, slave.getId(), new Task(2, command));
            Thread.sleep(100);
            readStatus();
            return false;
        }

        try {
            // 日志记录
            BasRgvOptService bean = SpringUtils.getBean(BasRgvOptService.class);
            Date now = new Date();
            BasRgvOpt basRgvOpt = new BasRgvOpt(
                    command.getRgvNo(),    // RGV[非空]
                    command.getAckFinish().intValue(),    // 任务完成确认位
                    command.getTaskNo1().intValue(),    // 任务号
                    command.getTaskMode1().intValue(),    // 模式
                    command.getSourceStaNo1().intValue(),    // 源站
                    command.getDestinationStaNo1().intValue(),    // 目标站
                    command.getTaskNo2().intValue(),    // 任务号
                    command.getTaskMode2().intValue(),    // 模式
                    command.getSourceStaNo2().intValue(),    // 源站
                    command.getDestinationStaNo2().intValue(),    // 目标站
                    command.getCommand().intValue(),
                    now,    // 下发时间
                    null, // 下发人员
                    now,    // 修改时间
                    null,    // 修改人员
                    null //响应
            );
            bean.insert(basRgvOpt);
        } catch (Exception ignore) {}

        if (result != null && result.IsSuccess) {
            Thread.sleep(200);
            this.readStatus();
            log.info("堆垛机命令下发[id:{}] >>>>> {}", slave.getId(), JSON.toJSON(command));
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】[id:{1}] >>>>> 命令下发： {2}", DateUtils.convert(new Date()), slave.getId(), JSON.toJSON(command)));
            return true;
        } else {
            OutputQueue.CRN.offer(MessageFormat.format("【{0}】写入堆垛机plc数据失败 ===>> [id:{1}] [ip:{2}] [port:{3}]", DateUtils.convert(new Date()), slave.getId(), slave.getIp(), slave.getPort()));
            log.error("写入堆垛机plc数据失败 ===>> [id:{}] [ip:{}] [port:{}]", slave.getId(), slave.getIp(), slave.getPort());
            return false;
        }
    }

    /**
     * 初始化堆垛机状态
@@ -390,9 +342,18 @@
        if (null == rgvProtocol) {
            rgvProtocol = new RgvProtocol();
        }
        rgvProtocol.setMode((short) 0);
        rgvProtocol.setStatus((short) -1);
        rgvProtocol.setWalkPos((short) 1);
        rgvProtocol.setMode((short) 0);//模式
        rgvProtocol.setTaskNo1(0);//工位1工作号
        rgvProtocol.setTaskNo2(0);//工位1工作号
        rgvProtocol.setStatus((short) 0);//RGV状态
        rgvProtocol.setColumnNumber((short) 0);//RGV当前位置
        rgvProtocol.setWalkPos((short) 0);//走行在定位
        rgvProtocol.setRgvPos(0);//RGV当前位置
        rgvProtocol.setLoaded1((short) 0);//工位1有物
        rgvProtocol.setAlarm((short) 0);//异常码
        rgvProtocol.setxSpeed( 0);//备用2
        rgvProtocol.setxDistance(0);//备用3
        rgvProtocol.setxDuration( 0);//备用4
    }

    @Override